Fix #65: Provide cmake config file

I've created a cmake config file that will be populated at build
time with the installed location of include folders and libraries.
I also restored the FindSimbody cmake module.
Update SimbodyConfig.cmake.in

Fix typo in SimbodyConfig.cmake.in
Fix SimbodyConfig.cmake.in

I was missing some of the cmake standard error handling
Set SIMBODY_VISUALIZER_INSTALL_DIR in root CMakeLists.txt

Otherwise the Simbody_ROOT_DIR is empty.
SimbodyConfig.cmake.in do find_libary for Simbody_LIBRARIES

Do find_library for each simbody library that we put in
Simbody_LIBRARIES, so that it can give the absolute path
that is known at build time.
Merge pull request #91 from scpeters/issue_65

Fix #65: Provide cmake config file
Update Exception.h

Change the bug reporting URI from simtk.org to github.com. Fixes issue #93.
Install examples to doc dir and lib (#82)

Install most of the example files to the doc folder, except on
UNIX, when the executable examples go to a subfolder of lib
with a symbolic link installed to the doc folder.
Clarify test/example cmake settings.

This commit attempts to fix issue #92 via the following changes:

* Rename BUILD_TESTING_{STATIC,SHARED} to
  BUILD_TESTS_AND_EXAMPLES_{STATIC,SHARED}, everywhere.
* In the comments for BUILD_TESTING and BUILD_EXAMPLES, mention the
  importance of BUILD_TESTS_AND_EXAMPLES_{STATIC,SHARED}.
* Edit comment for BUILD_TESTS_AND_EXAMPLES{STATIC,SHARED}.
* Add CMake errors if the user wants tests or examples but sets both
  BUILD_TESTS_AND_EXAMPLES_{STATIC,SHARED} off.
Merge pull request #95 from chrisdembia/issue92

Clarify test/example cmake settings.
Provide access to normalizeQuaternions() method, previously internal only.
Merge branch 'issue_82' of https://github.com/scpeters/simbody into scpeters-issue_82

Conflicts:
	Simbody/examples/CMakeLists.txt